{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Enviroment: \n",
    "Open AI gym [MountainCar-v0](https://github.com/openai/gym/wiki/MountainCar-v0)\n",
    "\n",
    "### Observation\n",
    "Type: Box(2)\n",
    "\n",
    "| Num  | Observation | Min   | Max  |\n",
    "| ---- | ----------- | ----- | ---- |\n",
    "| 0    | position    | -1.2  | 0.6  |\n",
    "| 1    | velocity    | -0.07 | 0.07 |\n",
    "\n",
    "### Actions\n",
    "\n",
    "Type: Discrete(3)\n",
    "\n",
    "| Num  | Action     |\n",
    "| ---- | ---------- |\n",
    "| 0    | push left  |\n",
    "| 1    | no push    |\n",
    "| 2    | push right |\n",
    "\n",
    "### Reward\n",
    "\n",
    "-1 for each time step, until the goal position of 0.5 is reached. As with MountainCarContinuous v0, there is no penalty for climbing the left hill, which upon reached acts as a wall.\n",
    "\n",
    "### Starting State\n",
    "\n",
    "Random position from -0.6 to -0.4 with no velocity.\n",
    "\n",
    "### Episode Termination\n",
    "\n",
    "The episode ends when you reach 0.5 position, or if 200 iterations are reached.\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## 1. gym enviroment setup"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([-0.40332806,  0.        ])"
      ]
     },
     "execution_count": 11,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "import gym\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "import seaborn as sns\n",
    "\n",
    "env = gym.make(\"MountainCar-v0\")\n",
    "env.reset()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## 2. Q Table setup"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [],
   "source": [
    "LEARNING_RATE = 0.5\n",
    "DISCOUNT = 0.95\n",
    "EPISODES = 10000\n",
    "SHOW_EVERY = 200\n",
    "Q_TABLE_LEN = 20"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [],
   "source": [
    "DISCRETE_OS_SIZE = [Q_TABLE_LEN] * len(env.observation_space.high)\n",
    "discrete_os_win_size = (env.observation_space.high - env.observation_space.low) / DISCRETE_OS_SIZE\n",
    "\n",
    "# q_table = np.random.uniform(low=0, high=1,\n",
    "#                             size=(DISCRETE_OS_SIZE + [env.action_space.n]))\n",
    "\n",
    "q_table = np.zeros((DISCRETE_OS_SIZE + [env.action_space.n]))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(20, 20, 3)"
      ]
     },
     "execution_count": 14,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "q_table.shape"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Decay epsilon "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [],
   "source": [
    "epsilon = 1  # not a constant, qoing to be decayed\n",
    "START_EPSILON_DECAYING = 1\n",
    "END_EPSILON_DECAYING = EPISODES//2\n",
    "epsilon_decay_value = epsilon/(END_EPSILON_DECAYING - START_EPSILON_DECAYING)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## 3. Help functions "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [],
   "source": [
    "def get_discrete_state (state):\n",
    "    discrete_state = (state - env.observation_space.low) // discrete_os_win_size\n",
    "    return tuple(discrete_state.astype(int))\n",
    "\n",
    "def take_epilon_greedy_action(state, epsilon):\n",
    "    discrete_state = get_discrete_state(state)\n",
    "    if np.random.random() < epsilon:\n",
    "        action = np.random.randint(0,env.action_space.n)\n",
    "    else:\n",
    "        action = np.argmax(q_table[discrete_state])\n",
    "    return action"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## 4. Rewards Recorder setup "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [],
   "source": [
    "ep_rewards = []\n",
    "aggr_ep_rewards = {'ep':[],'avg':[],'min':[],'max':[]}"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## 5. Train the Agent "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "episode: 0\n",
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     ]
    },
    {
     "name": "stdout",
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     "text": [
      "I made it on episode: 5382 Reward: -1.0\n",
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      "episode: 5400\n",
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      "episode: 5600\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 5600 Reward: -1.0\n",
      "I made it on episode: 5601 Reward: -1.0\n",
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      "episode: 5800\n",
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      "I made it on episode: 5845 Reward: -1.0\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 5846 Reward: -1.0\n",
      "I made it on episode: 5847 Reward: -1.0\n",
      "I made it on episode: 5848 Reward: -1.0\n",
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      "episode: 6000\n",
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     ]
    },
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     "text": [
      "I made it on episode: 6065 Reward: -1.0\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 6275 Reward: -1.0\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 6490 Reward: -1.0\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 6703 Reward: -1.0\n",
      "I made it on episode: 6704 Reward: -1.0\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 6914 Reward: -1.0\n",
      "I made it on episode: 6915 Reward: -1.0\n",
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     ]
    },
    {
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     "text": [
      "I made it on episode: 7119 Reward: -1.0\n",
      "I made it on episode: 7120 Reward: -1.0\n",
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      "episode: 7200\n",
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      "I made it on episode: 7328 Reward: -1.0\n"
     ]
    },
    {
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     "output_type": "stream",
     "text": [
      "I made it on episode: 7329 Reward: -1.0\n",
      "I made it on episode: 7330 Reward: -1.0\n",
      "I made it on episode: 7331 Reward: -1.0\n",
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      "episode: 7400\n",
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      "I made it on episode: 7412 Reward: -1.0\n",
      "I made it on episode: 7413 Reward: -1.0\n",
      "I made it on episode: 7414 Reward: -1.0\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 7545 Reward: -1.0\n",
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      "I made it on episode: 7756 Reward: -1.0\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 7757 Reward: -1.0\n",
      "I made it on episode: 7758 Reward: -1.0\n",
      "I made it on episode: 7759 Reward: -1.0\n",
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      "episode: 7800\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 7972 Reward: -1.0\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 8181 Reward: -1.0\n",
      "I made it on episode: 8182 Reward: -1.0\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 8388 Reward: -1.0\n",
      "I made it on episode: 8389 Reward: -1.0\n",
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      "episode: 8400\n",
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     ]
    },
    {
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     "output_type": "stream",
     "text": [
      "I made it on episode: 8604 Reward: -1.0\n",
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      "episode: 8800\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 8820 Reward: -1.0\n",
      "I made it on episode: 8821 Reward: -1.0\n",
      "I made it on episode: 8822 Reward: -1.0\n",
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     ]
    },
    {
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     "output_type": "stream",
     "text": [
      "I made it on episode: 9033 Reward: -1.0\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 9238 Reward: -1.0\n",
      "I made it on episode: 9239 Reward: -1.0\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 9450 Reward: -1.0\n",
      "I made it on episode: 9451 Reward: -1.0\n",
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      "episode: 9600\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 9659 Reward: -1.0\n",
      "I made it on episode: 9660 Reward: -1.0\n",
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      "episode: 9800\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "I made it on episode: 9866 Reward: -1.0\n",
      "I made it on episode: 9867 Reward: -1.0\n",
      "I made it on episode: 9868 Reward: -1.0\n",
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      "I made it on episode: 9999 Reward: -1.0\n"
     ]
    }
   ],
   "source": [
    "for episode in range(EPISODES):\n",
    "    # initiate reward every episode\n",
    "    ep_reward = 0\n",
    "    if episode % SHOW_EVERY == 0:\n",
    "        print(\"episode: {}\".format(episode))\n",
    "        render = True\n",
    "    else:\n",
    "        render = False\n",
    "\n",
    "    state = env.reset()\n",
    "    action = take_epilon_greedy_action(state, epsilon)\n",
    "    \n",
    "    done = False\n",
    "    while not done:\n",
    "\n",
    "        next_state, reward, done, _ = env.step(action)\n",
    "\n",
    "        ep_reward += reward\n",
    "        \n",
    "        next_action = take_epilon_greedy_action(next_state, epsilon)\n",
    "\n",
    "        # if render:\n",
    "        #     env.render()\n",
    "\n",
    "        if not done:\n",
    "\n",
    "            td_target = reward + DISCOUNT * q_table[get_discrete_state(next_state)][next_action]\n",
    "\n",
    "            q_table[get_discrete_state(state)][action] += LEARNING_RATE * (td_target - q_table[get_discrete_state(state)][action])\n",
    "\n",
    "        elif next_state[0] >= 0.5:\n",
    "            print(\"I made it on episode: {} Reward: {}\".format(episode,reward))\n",
    "            q_table[get_discrete_state(state)][action] = 0\n",
    "\n",
    "\n",
    "        state = next_state\n",
    "        action = next_action\n",
    "\n",
    "    # Decaying is being done every episode if episode number is within decaying range\n",
    "    if END_EPSILON_DECAYING >= episode >= START_EPSILON_DECAYING:\n",
    "        epsilon -= epsilon_decay_value\n",
    "\n",
    "    # recoard aggrated rewards on each epsoide\n",
    "    ep_rewards.append(ep_reward)\n",
    "\n",
    "    # every SHOW_EVERY calculate average rewords\n",
    "    if episode % SHOW_EVERY == 0:\n",
    "        avg_reward = sum(ep_rewards[-SHOW_EVERY:]) / len(ep_rewards[-SHOW_EVERY:])\n",
    "        aggr_ep_rewards['ep'].append(episode)\n",
    "        aggr_ep_rewards['avg'].append(avg_reward)\n",
    "        aggr_ep_rewards['min'].append(min(ep_rewards[-SHOW_EVERY:]))\n",
    "        aggr_ep_rewards['max'].append(max(ep_rewards[-SHOW_EVERY:]))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "Text(0, 0.5, 'Rewards')"
      ]
     },
     "execution_count": 19,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(aggr_ep_rewards['ep'], aggr_ep_rewards['avg'], label = 'avg')\n",
    "plt.plot(aggr_ep_rewards['ep'], aggr_ep_rewards['min'], label = 'min')\n",
    "plt.plot(aggr_ep_rewards['ep'], aggr_ep_rewards['max'], label = 'max')\n",
    "plt.legend(loc='upper left')\n",
    "plt.xlabel('Episodes')\n",
    "plt.ylabel('Rewards')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### 6. Rendering Test"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [],
   "source": [
    "done = False\n",
    "state = env.reset()\n",
    "while not done:\n",
    "    action = np.argmax(q_table[get_discrete_state(state)])\n",
    "    next_state, _, done, _ = env.step(action)\n",
    "    state = next_state\n",
    "    env.render()\n",
    "\n",
    "env.close()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python (spinningup)",
   "language": "python",
   "name": "spinningup"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
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